接触传感器#

用于报告刚体连杆上接触情况的传感器，面向操作、抓取和物理交互任务。关于用法，以及如何用 filter_link_idx 限定读数范围，请参阅 接触传感指南。

gs.sensors.ContactForce#

作用在关联连杆上的总接触力，以其局部坐标系表示。

class genesis.options.sensors.options.ContactForce(*, history_length: int = 0, delay: float = 0.0, jitter: float = 0.0, draw_debug: bool = False, entity_idx: int = -1, resolution: tuple[float, float, float] = 0.0, bias: tuple[float, ...] | float = 0.0, noise: tuple[float, ...] | float = 0.0, random_walk: tuple[float, ...] | float = 0.0, link_idx_local: int = 0, pos_offset: tuple[float, float, float] = (0.0, 0.0, 0.0), euler_offset: tuple[float, float, float] = (0.0, 0.0, 0.0), filter_link_idx: tuple[int, ...] = <factory>, min_force: tuple[float, float, float] = 0.0, max_force: tuple[float, float, float] = inf, debug_color: tuple[float, float, float, float] = (1.0, 0.0, 1.0, 0.5), debug_scale: float = 0.01) → None[source]#

Sensor that returns the total contact force being applied to the associated RigidLink in its local frame.

Parameters:

  • min_force (float | array-like[float, float, float], optional) – The minimum detectable absolute force per each axis. Values below this will be treated as 0. Default is 0.

  • max_force (float | array-like[float, float, float], optional) – The maximum output absolute force per each axis. Values above this will be clipped. Default is infinity.

  • debug_color (array-like[float, float, float, float], optional) – The rgba color of the debug arrow. Defaults to (1.0, 0.0, 1.0, 0.5).

  • debug_scale (float, optional) – The scale factor for the debug force arrow. Defaults to 0.01.

class genesis.engine.sensors.contact_force.ContactForceSensor(options: SensorOptions, idx: int, shared_context: SharedSensorContextT, shared_metadata: SharedSensorMetadataT, manager: SensorManager)[source]#

Bases: RigidSensorMixin[ContactForceSensorMetadata], SimpleSensor[ContactForce, None, ContactForceSensorMetadata]

Sensor that returns the total contact force being applied to the associated RigidLink in its local frame.

build()[source]#

Initialize all shared metadata needed to update all noisy sensors.

Time-related state (delays_ts, jitter_ts) is pushed by Sensor.build(); this method adds the imperfection-parameter state.

gs.sensors.Contact#

一个布尔值：关联连杆是否处于接触状态。

class genesis.options.sensors.options.Contact(*, history_length: int = 0, delay: float = 0.0, jitter: float = 0.0, draw_debug: bool = False, entity_idx: int = -1, resolution: tuple[float, ...] | float = 0.0, bias: tuple[float, ...] | float = 0.0, noise: tuple[float, ...] | float = 0.0, random_walk: tuple[float, ...] | float = 0.0, link_idx_local: int = 0, pos_offset: tuple[float, float, float] = (0.0, 0.0, 0.0), euler_offset: tuple[float, float, float] = (0.0, 0.0, 0.0), filter_link_idx: tuple[int, ...] = <factory>, threshold: float = 0.0, debug_sphere_radius: float = 0.05, debug_color: tuple[float, float, float, float] = (1.0, 0.0, 1.0, 0.5)) → None[source]#

Sensor that returns bool based on whether associated RigidLink is in contact.

Parameters:

  • threshold (float, optional) – The bool-conversion threshold applied at read time to the underlying float contact magnitude (kernel produces float). A bin reads True iff its magnitude exceeds this value. Default 0.0 so any positive magnitude registers as contact.

  • debug_sphere_radius (float, optional) – The radius of the debug sphere. Defaults to 0.05.

  • debug_color (array-like[float, float, float, float], optional) – The rgba color of the debug sphere. Defaults to (1.0, 0.0, 1.0, 0.5).

class genesis.engine.sensors.contact_force.ContactSensor(options: Contact, idx: int, shared_context, shared_metadata, manager: SensorManager)[source]#

Bases: SimpleSensor[Contact, None, ContactSensorMetadata]

Sensor that returns bool based on whether associated RigidLink is in contact.

build()[source]#

Initialize all shared metadata needed to update all noisy sensors.

Time-related state (delays_ts, jitter_ts) is pushed by Sensor.build(); this method adds the imperfection-parameter state.

另请参阅#